Vehicle control device, vehicle control method, and storage medium

ABSTRACT

A vehicle control device includes a recognizer configured to recognize a surrounding environment of a vehicle including a moving object present around the vehicle and a controller configured to control at least one of a speed and steering of the vehicle. The controller restricts access to the moving object when the moving object is rotating around a vertical axis at a speed greater than or equal to a threshold value so that a front surface of the moving object recognized by the recognizer faces a position interfering with a position in a traveling direction of the vehicle as compared with when the moving object is not rotating.

CROSS-REFERENCE TO RELATED APPLICATION

Priority is claimed on Japanese Patent Application No. 2019-191023,filed Oct. 18, 2019, the content of which is incorporated herein byreference.

BACKGROUND Field of the Invention

The present invention relates to a vehicle control device, a vehiclecontrol method, and a storage medium.

Description of Related Art

In recent years, research has been conducted on automatedly controllingvehicles. A device for setting risk potential of a host vehicle in adirection opposite to a movement direction of a moving object to belower when the moving object is closer to an end of a passing sectionwhile the moving object around the vehicle is moving in a predeterminedpassing section has been disclosed (Japanese Unexamined PatentApplication, First Publication No. 2011-197781).

Although the above-described device sets the risk potential inaccordance with the movement of the moving object, there may be a casein which it is difficult to accurately set the risk potential. Thus, theabove-described device may not be able to appropriately control thevehicle on the basis of the movement of the moving object.

SUMMARY

The present invention has been made in consideration of suchcircumstances and an objective of the present invention is to provide avehicle control device, a vehicle control method, and a storage mediumcapable of reliably controlling a vehicle according to a surroundingsituation.

A vehicle control device, a vehicle control method, and a storage mediumaccording to the present invention adopt the following configurations.

(1): According to a first aspect of the present invention, a vehiclecontrol device is provided including: a recognizer configured torecognize a surrounding environment of a vehicle including a movingobject present around the vehicle; and a controller configured tocontrol at least one of a speed and steering of the vehicle, wherein thecontroller restricts access to the moving object when the moving objectis rotating around a vertical axis at a speed greater than or equal to athreshold value so that a front surface of the moving object recognizedby the recognizer faces a position interfering with a position in atraveling direction of the vehicle as compared with when the movingobject is not rotating around the vertical axis at a speed greater thanor equal to a threshold value.

(2): In a second aspect of the present invention in accordance with thefirst aspect, the vehicle control device further includes a setterconfigured to set a risk area in a surrounding area of the vehicle onthe basis of a recognition result of the recognizer, wherein the settersets a first risk area with respect to the moving object when the movingobject is rotating toward a reference position present in the travelingdirection of the vehicle at a speed less than the threshold value or isnot rotating toward the reference position, wherein the setter sets asecond risk area larger than the first risk area with respect to themoving object when the moving object is rotating toward the referenceposition present in the traveling direction of the vehicle at a speedgreater than or equal to the threshold value, and wherein the controllercontrols the vehicle so that the vehicle does not access the first riskarea or the second risk area.

(3): In a third aspect of the present invention in accordance with thefirst aspect or the second aspect, the vehicle control device furtherincludes a setter configured to set a risk area in a surrounding area ofthe vehicle on the basis of a recognition result of the recognizer,wherein the setter sets a first risk area associated with first riskpotential with respect to the moving object when the moving object isrotating toward a reference position present in the traveling directionof the vehicle at a speed less than the threshold value or is notrotating toward the reference position, wherein the setter sets a secondrisk area associated with second risk potential greater than the firstrisk potential with respect to the moving object when the moving objectis rotating toward the reference position present in the travelingdirection of the vehicle at a speed greater than or equal to thethreshold value, and wherein the controller controls the vehicle so thatthe vehicle does not access the first risk area or the second risk area.

(4): In a fourth aspect of the present invention in accordance with thesecond aspect or the third aspect, the setter sets the first risk areaand the second risk area so that the first risk area and the second riskarea extend in at least a direction interfering with the position in thetraveling direction of the vehicle.

(5): In a fifth aspect of the present invention in accordance with thefirst aspect to the fourth, the controller further restricts the accessof the vehicle to the moving object in consideration of at least one ofa type of the moving object, a rotation direction of the moving object,and a physical object present in the rotation direction of the movingobject when the moving object is rotating around the vertical axis at aspeed greater than or equal to the threshold value so that the frontsurface of the moving object faces the position interfering with theposition in the traveling direction of the vehicle, as compared withwhen the moving object is not rotating around the vertical axis at aspeed greater than or equal to the threshold value.

(6): According to a sixth aspect of the present invention, there isprovided a vehicle control method including: recognizing, by a computer,a surrounding environment of a vehicle including a moving object presentaround the vehicle; controlling, by the computer, at least one of aspeed and steering of the vehicle; and restricting, by the computer,access to the moving object when the moving object is rotating around avertical axis at a speed greater than or equal to a threshold value sothat a front surface of the moving object that has been recognized facesa position interfering with a position in a traveling direction of thevehicle as compared with when the moving object is not rotating aroundthe vertical axis at a speed greater than or equal to a threshold value.

(7): According to a seventh aspect of the present invention, there isprovided a storage medium storing a program for causing a computer to:recognize a surrounding environment of a vehicle including a movingobject present around the vehicle; control at least one of a speed andsteering of the vehicle; and restrict access to the moving object whenthe moving object is rotating around a vertical axis at a speed greaterthan or equal to a threshold value so that a front surface of the movingobject that has been recognized faces a position interfering with aposition in a traveling direction of the vehicle as compared with whenthe moving object is not rotating around the vertical axis at a speedgreater than or equal to a threshold value.

According to the first aspects to the seventh aspect, it is possible toreliably control a vehicle according to a surrounding situation. Inparticular, the vehicle control device can control the vehicle whilepaying sufficient attention to a moving object that is likely to haveaccess in a direction in which the moving object will interfere with thehost vehicle M by making a sudden direction change.

According to the second aspect or the third aspect, when the rotationalspeed is greater than or equal to the threshold value, the controllercan implement the control in consideration of the moving object bysetting the second risk area.

According to the sixth aspect, the controller can reliably implementcontrol according to characteristics of the moving object by restrictingthe access to the moving object in consideration of at least one of atype of the moving object, a rotation direction of the moving object,and a physical object present in the rotation direction of the movingobject.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a configuration diagram of a vehicle system 1 using a vehiclecontrol device according to an embodiment.

FIG. 2 is a functional configuration diagram of a first controller and asecond controller.

FIG. 3 is a diagram (part 1) for describing specific control.

FIG. 4 is a diagram (part 2) for describing specific control.

FIG. 5 is a diagram (part 3) for describing specific control.

FIG. 6 is a diagram (part 4) for describing specific control.

FIG. 7 is a diagram (part 5) for describing specific control.

FIG. 8 is a diagram (part 6) for describing specific control.

FIG. 9 is a diagram (part 7) for describing specific control.

FIG. 10 is a diagram for describing risk potential.

FIG. 11 is a diagram showing an example of a relationship between arotational speed of a moving object and a size of a second risk area.

FIG. 12 is a diagram showing an example of a case in which a movingobject has rotated at a rotation speed greater than or equal to athreshold value.

FIG. 13 is a diagram showing an example of a scene in which there is anobstacle.

FIG. 14 is a diagram showing an example of a scene in which second riskpotential is reduced.

FIG. 15 is a diagram showing an example of the relationship between aheight of an obstacle and risk potential.

FIG. 16 is a flowchart showing an example of a flow of a processexecuted by an automated driving control device.

FIG. 17 is a diagram showing an example of a hardware configuration ofan automated driving control device according to an embodiment.

DETAILED DESCRIPTION

Hereinafter, embodiments of a vehicle control device, a vehicle controlmethod, and a storage medium according to the present invention will bedescribed with reference to the drawings. Although a case in whichleft-hand traffic regulations are applied will be described below, it isonly necessary to reverse the left and right when right-hand trafficregulations are applied. As used throughout this disclosure, thesingular forms “a,” “an,” and “the” include plural reference unless thecontext clearly dictates otherwise.

[Overall Configuration]

FIG. 1 is a configuration diagram of a vehicle system 1 using a vehiclecontrol device according to an embodiment. For example, a vehicle inwhich the vehicle system 1 is mounted is a two-wheeled vehicle, athree-wheeled vehicle, or a four-wheeled vehicle. A driving source ofthe vehicle is an internal combustion engine such as a diesel engine ora gasoline engine, an electric motor, or a combination thereof. Theelectric motor is operated using electric power generated by an electricpower generator connected to the internal combustion engine or electricpower with which a secondary cell or a fuel cell is discharged.

For example, the vehicle system 1 includes a camera 10, a radar device12, a light detection and ranging (LIDAR) sensor 14, a physical objectrecognition device 16, a communication device 20, a human machineinterface (HMI) 30, a vehicle sensor 40, a navigation device 50, a mappositioning unit (MPU) 60, driving operators 80, an automated drivingcontrol device 100, a travel driving force output device 200, a brakedevice 210, and a steering device 220. Such devices and equipment areconnected to each other by a multiplex communication line such as acontroller area network (CAN) communication line, a serial communicationline, or a wireless communication network. The configuration shown inFIG. 1 is merely an example and parts of the configuration may beomitted or other configurations may be further added.

For example, the camera 10 is a digital camera using a solid-stateimaging element such as a charge coupled device (CCD) or a complementarymetal oxide semiconductor (CMOS). The camera 10 is attached to anylocation on the vehicle (hereinafter referred to as a host vehicle M) inwhich the vehicle system 1 is mounted. When the view in front of thehost vehicle M is imaged, the camera 10 is attached to an upper part ofa front windshield, a rear surface of a rearview mirror, or the like.For example, the camera 10 periodically and iteratively images thesurroundings of the host vehicle M. The camera 10 may be a stereocamera.

The radar device 12 radiates radio waves such as millimeter waves aroundthe host vehicle M and detects at least a position (a distance to and adirection) of a physical object by detecting radio waves (reflectedwaves) reflected by the physical object. The radar device 12 is attachedto any location on the host vehicle M. The radar device 12 may detect aposition and speed of the physical object in a frequency modulatedcontinuous wave (FM-CW) scheme.

The LIDAR sensor 14 radiates light (or electromagnetic waves having awavelength close to light) to the vicinity of the host vehicle M andmeasures scattered light. The LIDAR sensor 14 detects a distance to anobject on the basis of time from light emission to light reception. Theradiated light is, for example, pulsed laser light. The LIDAR sensor 14is attached to any location on the host vehicle M.

The physical object recognition device 16 performs a sensor fusionprocess on detection results from some or all of the camera 10, theradar device 12, and the LIDAR sensor 14 to recognize a position, atype, a speed, and the like of a physical object. The physical objectrecognition device 16 outputs recognition results to the automateddriving control device 100. The physical object recognition device 16may output detection results of the camera 10, the radar device 12, andthe LIDAR sensor 14 to the automated driving control device 100 as theyare. The physical object recognition device 16 may be omitted from thevehicle system 1.

The communication device 20 communicates with another vehicle present inthe vicinity of the host vehicle M, or communicates with various typesof server devices via a radio base station, using, for example, acellular network or a Wi-Fi network, Bluetooth (registered trademark),dedicated short range communication (DSRC), or the like.

The HMI 30 presents various types of information to an occupant of thehost vehicle M and receives an input operation by the occupant. The HMI30 includes various types of display devices, a speaker, a buzzer, atouch panel, a switch, keys and the like.

The vehicle sensor 40 includes a vehicle speed sensor configured todetect the speed of the host vehicle M, an acceleration sensorconfigured to detect acceleration, a yaw rate sensor configured todetect angular velocity around a vertical axis, a direction sensorconfigured to detect a direction of the host vehicle M, and the like.

For example, the navigation device 50 includes a global navigationsatellite system (GNSS) receiver 51, a navigation HMI 52, and a routedeterminer 53. The navigation device 50 stores first map information 54in a storage device such as a hard disk drive (HDD) or a flash memory.The GNSS receiver 51 identifies a position of the host vehicle M on thebasis of a signal received from a GNSS satellite. The position of thehost vehicle M may be identified or corrected by an inertial navigationsystem (INS) using an output of the vehicle sensor 40. The navigationHMI 52 includes a display device, a speaker, a touch panel, keys, andthe like. The navigation HMI 52 may be partly or wholly shared with theabove-described HMI 30. For example, the route determiner 53 determinesa route (hereinafter referred to as a route on a map) from the positionof the host vehicle M identified by the GNSS receiver 51 (or any inputposition) to a destination input by the occupant using the navigationHMI 52 with reference to the first map information 54. The first mapinformation 54 is, for example, information in which a road shape isexpressed by a link indicating a road and nodes connected by the link.The first map information 54 may include a curvature of a road, point ofinterest (POI) information, and the like. The route on the map is outputto the MPU 60. The navigation device 50 may perform route guidance usingthe navigation HMI 52 on the basis of the route on the map. Thenavigation device 50 may be implemented, for example, according to afunction of a terminal device such as a smartphone or a tablet terminalpossessed by the occupant. The navigation device 50 may transmit acurrent position and a destination to a navigation server via thecommunication device 20 and acquire a route equivalent to the route onthe map from the navigation server.

For example, the MPU 60 includes a recommended lane determiner 61 andstores second map information 62 in a storage device such as an HDD or aflash memory. The recommended lane determiner 61 divides the route onthe map provided from the navigation device 50 into a plurality ofblocks (for example, divides the route every 100 [m] in a travelingdirection of the vehicle), and determines a recommended lane for eachblock with reference to the second map information 62. The recommendedlane determiner 61 determines in what lane numbered from the left thevehicle will travel. The recommended lane determiner 61 determines therecommended lane so that the host vehicle M can travel along areasonable route for traveling to a branching destination when there isa branch point in the route on the map.

The second map information 62 is map information which has higheraccuracy than the first map information 54. For example, the second mapinformation 62 includes information about a center of a lane,information about a boundary of a lane, and the like. The second mapinformation 62 may include road information, traffic regulationsinformation, address information (an address/postal code), facilityinformation, telephone number information, and the like. The second mapinformation 62 may be updated at any time when the communication device20 communicates with another device.

For example, the driving operators 80 include an accelerator pedal, abrake pedal, a shift lever, a steering wheel, a steering wheel variant,a joystick, and other operators. A sensor configured to detect an amountof operation or the presence or absence of an operation is attached tothe driving operator 80, and a detection result thereof is output to theautomated driving control device 100 or some or all of the traveldriving force output device 200, the brake device 210, and the steeringdevice 220.

The automated driving control device 100 includes, for example, a firstcontroller 120 and a second controller 160. Each of the first controller120 and the second controller 160 is implemented, for example, by ahardware processor such as a central processing unit (CPU) executing aprogram (software). Some or all of these components are implemented byhardware (a circuit including circuitry) such as a large-scaleintegration (LSI) circuit, an application specific integrated circuit(ASIC), a field-programmable gate array (FPGA), or a graphics processingunit (GPU) or may be implemented by software and hardware incooperation. The program may be pre-stored in a storage device (astorage device including a non-transitory storage medium) such as an HDDor a flash memory of the automated driving control device 100 or may bestored in a removable storage medium such as a DVD or a CD-ROM andinstalled in the HDD or the flash memory of the automated drivingcontrol device 100 when the storage medium (the non-transitory storagemedium) is mounted in a drive device. The automated driving controldevice 100 is an example of a “vehicle control device” and thecombination of an action plan generator 140 and the second controller160 is an example of a “controller.”

FIG. 2 is a functional configuration diagram of the first controller 120and the second controller 160. The first controller 120 includes, forexample, a recognizer 130, and the action plan generator 140. Forexample, the first controller 120 implements a function based onartificial intelligence (AI) and a function based on a previously givenmodel in parallel. For example, an “intersection recognition” functionmay be implemented by executing intersection recognition based on deeplearning or the like and recognition based on previously givenconditions (signals, road markings, or the like, with which patternmatching is possible) in parallel and performing comprehensiveevaluation by assigning scores to both the recognitions. Thereby, thereliability of automated driving is ensured.

The recognizer 130 recognizes states of a position, a speed,acceleration, and the like of a physical object around the host vehicleM on the basis of information input from the camera 10, the radar device12, and the LIDAR sensor 14 via the physical object recognition device16. For example, the position of the physical object is recognized as aposition on absolute coordinates with a representative point (a centerof gravity, a driving shaft center, or the like) of the host vehicle Mas the origin and is used for control. The position of the physicalobject may be represented by a representative point such as a center ofgravity or a corner of the physical object or may be represented by arepresented region. The “state” of a physical object may includeacceleration or jerk of the physical object or an “action state” (forexample, whether or not a lane change is being made or intended).

For example, the recognizer 130 recognizes a lane in which the hostvehicle M is traveling (a travel lane). For example, the recognizer 130recognizes the travel lane by comparing a pattern of a road dividingline (for example, an arrangement of solid lines and broken lines)obtained from the second map information 62 with a pattern of roaddividing lines in the vicinity of the host vehicle M recognized from animage captured by the camera 10. The recognizer 130 may recognize atravel lane by recognizing a traveling path boundary (a road boundary)including a road dividing line, a road shoulder, a curb, a median strip,a guardrail, or the like as well as a road dividing line. In thisrecognition, a position of the host vehicle M acquired from thenavigation device 50 or a processing result of the INS may be added. Therecognizer 130 recognizes a temporary stop line, an obstacle, redtraffic light, a toll gate, and other road events.

When the travel lane is recognized, the recognizer 130 recognizes aposition or orientation of the host vehicle M with respect to the travellane. For example, the recognizer 130 may recognize a gap of a referencepoint of the host vehicle M from the center of the lane and an angleformed with respect to a line connecting the center of the lane in thetraveling direction of the host vehicle M as a relative position andorientation of the host vehicle M related to the travel lane.Alternatively, the recognizer 130 may recognize a position of thereference point of the host vehicle M related to one side end portion (aroad dividing line or a road boundary) of the travel lane or the like asa relative position of the host vehicle M related to the travel lane.

The action plan generator 140 generates a future target trajectory alongwhich the host vehicle M is allowed to automatedly travel (independentlyof a driver's operation) in the traveling aspect defined by the event sothat the host vehicle M can generally travel in the recommended lanedetermined by the recommended lane determiner 61 and further cope with asurrounding situation of the host vehicle M. For example, the targettrajectory includes a speed element. For example, the target trajectoryis represented by sequentially arranging points (trajectory points) atwhich the host vehicle M is required to arrive. The trajectory point isa point at which the host vehicle M is required to arrive for eachpredetermined traveling distance (for example, about several meters[m]). On the other hand, a target speed and target acceleration for eachpredetermined sampling time period (for example, about several tenths ofa second [sec]) are generated as parts of the target trajectory. Thetrajectory point may be a position at which the host vehicle M isrequired to arrive at the sampling time for each predetermined samplingtime period. In this case, information of the target speed or the targetacceleration is represented by an interval between trajectory points.

The action plan generator 140 may set an automated driving event whenthe target trajectory is generated. Automated driving events include aconstant-speed traveling event, a low-speed tracking traveling event, alane change event, a branching event, a merging event, a takeover event,and the like. The action plan generator 140 generates a targettrajectory according to an activated event.

The action plan generator 140 includes, for example, a processor 142 anda controller 144. Details of the processes of the processor 142 and thecontroller 144 will be described below. The processor 142 is an exampleof a “setter.”

The second controller 160 controls the travel driving force outputdevice 200, the brake device 210, and the steering device 220 so thatthe host vehicle M passes through the target trajectory generated by theaction plan generator 140 at a scheduled time.

Returning to FIG. 2 , the second controller 160 includes, for example,an acquirer 162, a speed controller 164, and a steering controller 166.The acquirer 162 acquires information of a target trajectory (trajectorypoints) generated by the action plan generator 140 and causes a memory(not shown) to store the acquired information. The speed controller 164controls the travel driving force output device 200 or the brake device210 on the basis of speed elements associated with the target trajectorystored in the memory. The steering controller 166 controls the steeringdevice 220 in accordance with a level of curvature of the targettrajectory stored in the memory. For example, processes of the speedcontroller 164 and the steering controller 166 are implemented by acombination of feed-forward control and feedback control. As an example,the steering controller 166 executes feed-forward control according tothe curvature of the road in front of the host vehicle M and feedbackcontrol based on deviation from the target trajectory in combination.

The travel driving force output device 200 outputs a travel drivingforce (torque) for enabling the vehicle to travel to driving wheels. Forexample, the travel driving force output device 200 may include acombination of an internal combustion engine, an electric motor, atransmission, and the like, and a power electronic control unit (ECU)that controls the internal combustion engine, the electric motor, thetransmission, and the like. The ECU controls the above-describedcomponents in accordance with information input from the secondcontroller 160 or information input from the driving operator 80.

For example, the brake device 210 includes a brake caliper, a cylinderconfigured to transfer hydraulic pressure to the brake caliper, anelectric motor configured to generate hydraulic pressure in thecylinder, and a brake ECU. The brake ECU controls the electric motor inaccordance with the information input from the second controller 160 orthe information input from the driving operator 80 so that brake torqueaccording to a braking operation is output to each wheel. The brakedevice 210 may include a mechanism configured to transfer the hydraulicpressure generated by an operation of the brake pedal included in thedriving operators 80 to the cylinder via a master cylinder as a backup.The brake device 210 is not limited to the above-described configurationand may be an electronically controlled hydraulic brake deviceconfigured to control the actuator in accordance with information inputfrom the second controller 160 and transfer the hydraulic pressure ofthe master cylinder to the cylinder.

For example, the steering device 220 includes a steering ECU and anelectric motor. For example, the electric motor changes a direction ofsteerable wheels by applying a force to a rack and pinion mechanism. Thesteering ECU drives the electric motor in accordance with theinformation input from the second controller 160 or the informationinput from the driving operator 80 to cause the direction of thesteerable wheels to be changed.

[Specific Control (Part 1)]

The controller 144 restricts access to a moving object when the movingobject is rotating around a vertical axis at a speed greater than orequal to a threshold value so that a front surface of the moving objectrecognized by the recognizer 130 faces a position interfering with aposition in a traveling direction of the host vehicle M (a travelingdestination of the host vehicle M), as compared with when the movingobject is not rotating. Hereinafter, the above-described control may bereferred to as “specific control.”

The “moving object” includes a person, an animal, and the like. Themoving object includes a pedestrian, a bicycle, a wheelchair, and thelike. In the following description, it is assumed that the moving objectis a pedestrian. The “front surface of the moving object” is a referencesurface of the moving object. When the moving object is a pedestrian,for example, the “front surface of the moving object” is the chest, theface, or the like of the pedestrian.

For example, “facing a position interfering with a position in atraveling direction of the host vehicle M” indicates that the movingobject is directed in a trajectory direction of a traveling destinationof the host vehicle M. For example, “facing a position (hereinafterreferred to as a reference position) interfering with a position in thetraveling direction of the host vehicle M” indicates that the movingobject is directed in a roadway direction when the moving object ispresent on the sidewalk. “Restricting access to the moving object”indicates that the controller 144 restricts the speed of the hostvehicle M or causes the host vehicle M to travel at a position away fromthe moving object.

FIG. 3 is a diagram (part 1) for describing specific control. Forexample, it is assumed that the host vehicle M is traveling on a roadwayRW in an X direction and a pedestrian PD is present on a sidewalk SW.The pedestrian PD is directed in a Y direction orthogonal to the Xdirection. The host vehicle M is scheduled to travel along a scheduledtrajectory OR1.

FIG. 4 is a diagram (part 2) for describing specific control. When thepedestrian PD has rotated toward the reference position, the controller144 controls the host vehicle M on the basis of a rotational speed. Forexample, the controller 144 restricts the speed of the host vehicle Mwhen the moving object is rotating toward the reference position at aspeed greater than or equal to the threshold value. When the movingobject is rotating toward the reference position at a speed greater thanor equal to the threshold value, the controller 144 may change ascheduled traveling trajectory in addition to (or in place of)restricting the speed of the host vehicle M. In this case, the hostvehicle M travels, for example, at a position away from the movingobject.

FIG. 5 is a diagram (part 3) for describing specific control.Hereinafter, as shown in FIG. 5 , a +Y direction may be referred to aszero degrees, a −X direction may be referred to as 90 degrees, a −Ydirection may be referred to as 180 degrees, and a +X direction may bereferred to as 270 degrees. For example, the controller 144 executes thespecific control when a specific surface SD of the moving object isdirected in a first predetermined direction. The first predetermineddirection is any direction, for example, a range from 90 degrees to 270degrees including zero degrees (without including 180 degrees), a rangefrom 45 degrees to 315 degrees, or the like. The first predetermineddirection may be a direction different from a direction of 180 degrees.The fact that the “pedestrian PD is rotating toward the referenceposition” indicates that the specific surface SD is rotating to be closeto the direction of 180 degrees. The rotational speed is angularvelocity of the specific surface SD.

When the pedestrian PD is rotating while moving, consideration may begiven as follows. FIG. 6 is a diagram (part 4) for describing specificcontrol. The processor 142 sets a set range (for example, a set rangearound the center of gravity) with respect to a reference point of thepedestrian PD. Even if the pedestrian PD is rotating while moving, theprocessor 142 sets the pedestrian PD as a target for the specificcontrol when the reference point of the pedestrian PD is included withinthe set range. In this case, the processor 142 causes reference pointsof the pedestrian PD for specific surfaces SD(t) to SD(t+2) at times tomatch and obtains angular velocity of the specific surface SD on thebasis of pedestrians PD(t) to PD(t+2).

FIG. 7 is a diagram (part 5) for describing specific control. When thepedestrian PD rotates while moving and the reference point of thepedestrian PD is outside of the set range, the processor 142 may excludethe pedestrian PD from a target for the specific control. When deviationbetween a reference point of the pedestrian PD at a first time and areference point of the pedestrian PD at a second time after the firsttime is greater than or equal to a predetermined degree, the processor142 may exclude the pedestrian PD from the target for the specificcontrol.

The pedestrian PD whose specific position SD is directed in apredetermined direction may be set as the target for the specificcontrol. For example, the controller 144 does not have to execute thespecific control for the pedestrian PD whose specific position SD is notdirected in a second predetermined direction when another condition forexecuting the specific control is satisfied. The second predetermineddirection is any direction and is, for example, a range from 90 degreesto 270 degrees including 180 degrees (without including zero degrees), arange from 135 degrees to 225 degrees, or the like. The secondpredetermined direction may be a direction different from a direction ofzero degrees. That is, a pedestrian PD who has rotated at a speedgreater than or equal to the threshold value without facing the roadwayside may be excluded from the target for the specific control.

As described above, the controller 144 restricts access to a movingobject when the moving object is rotating around a vertical axis at aspeed greater than or equal to a threshold value so that a front surfaceof the moving object faces a reference position as compared with whenthe moving object is not rotating, thereby reliably controlling thevehicle according to a surrounding situation.

[Specific Control (Part 2)]

FIG. 8 is a diagram (part 6) for describing specific control. In FIG. 8, it is assumed that the moving object has rotated at a rotational speedless than the threshold value or a specific position is directed in areference position direction without rotation. When the moving object isrotating (or has rotated) toward a reference position present in thetraveling direction of the host vehicle M at a speed less than thethreshold value, the processor 142 sets a first risk area AR1 withrespect to the moving object. For example, the first risk area AR1 isset to extend in the direction of the specific position.

FIG. 9 is a diagram (part 7) for describing specific control. In FIG. 9, it is assumed that the moving object has rotated at a rotational speedgreater than or equal to the threshold value. When the moving object isrotating (has rotated) toward the reference position at a speed greaterthan or equal to the threshold value, the processor 142 sets a secondrisk area AR2 larger than the first risk area with respect to the movingobject. For example, the second risk area AR2 is set to extend in thedirection of the reference position. The second risk area AR is set toextend at least in a direction interfering with a position in thetraveling direction of the host vehicle M. The second risk area AR2 is,for example, an area that includes the first risk area AR1 and extendstoward the −Y direction side of the first risk area AR1. Hereinafter,when the first risk area and the second risk area are not distinguished,they may be simply referred to as “risk areas.”

The processor 142 may set the risk area (the first risk area or thesecond risk area) when the specific surface SD has been directed in apredetermined direction (for example, when the specific surface SD hasreached a predetermined angle) and may set the first risk area even ifthe rotational speed of the specific surface SD is greater than or equalto the threshold value within a first angle range and set the secondrisk area AR2 when the specific surface SD is included in a second anglerange (for example, when the specific surface SD has faced a roadwayside). The processor 142 may set the second risk area AR2 when therotational speed of the specific surface SD becomes greater than orequal to the threshold value before the specific surface SD enters thesecond angle range and may set the second risk area AR2 when therotational speed of the specific surface SD becomes greater than orequal to the threshold value after the specific surface SD enters thesecond angle range.

The “risk area” is an area where risk potential is set. The “riskpotential” is an index value indicating a risk level when the hostvehicle M has entered the area where the risk potential is set. The riskpotential is risk potential which is an index value of a predeterminedmagnitude (an index value exceeding zero). For example, the riskpotential may be set so that a central point of the moving object is setto have a maximum value, a risk potential value decreases as a distancefrom the central point of the moving object increases, and the riskpotential becomes zero when the host vehicle M is sufficiently away fromthe moving object. The automated driving control device 100 controls thehost vehicle M so that the host vehicle M does not enter an area wherethe risk potential has been set (or an area having a predetermined valueor more).

FIG. 10 is a diagram for describing risk potential. For example, asshown in the lower part of FIG. 10 , predetermined risk potential is setfor the second risk area AR2. In the example of FIG. 10 , a magnitude ofthe risk potential decreases as the host vehicle M moves away from thecenter of the pedestrian PD with respect to a position in the Ydirection. In the example of FIG. 10 , the magnitude of the riskpotential set for the second risk area AR2 is greater than or equal to athreshold value Th. The threshold value Th is risk potential forpreventing the host vehicle M from entering the second risk area AR2.The risk potential does not have to be set in an area different from therisk area (the index indicating the risk potential may be zero).

As described above, the automated driving control device 100 generates atrajectory so that the host vehicle M does not enter the second riskarea AR2 and causes the host vehicle M to travel along the generatedtrajectory.

FIG. 11 is a diagram showing an example of a relationship between therotational speed of the moving object and the size of the second riskarea AR2. The vertical axis of FIG. 11 represents the size of the secondrisk area AR2 and the horizontal axis of FIG. 11 represents therotational speed of the moving object. For example, the size of thesecond risk area AR2 may be set to increase as the rotational speedincreases. For example, when the rotational speed is less than athreshold value Th1, the first risk area AR1 is set. The first risk areaAR1 has a size S1. For example, in a range where the rotational speed isgreater than or equal to the threshold value Th1 and is less than athreshold value Th2, the second risk area AR2 is set to increase as therotational speed increases. For example, when the rotational speed isgreater than or equal to the threshold value Th2, the size of the secondrisk area AR2 is set to a size S3. The above-described example is oneexample and a change in the size of the second risk area AR2 may belinear, non-linear, or stepwise.

Thus, the processor 142 changes the size of the risk area in accordancewith the rotational speed of the specific surface SD of the movingobject, so that it is possible to set a risk area more suitable for therotation of the moving object in consideration of a risk due to themoving object.

[Specific Control (Part 3)]

FIG. 12 is a diagram (part 7) for describing specific control. Theprocessor 142 may set a first risk area associated with first riskpotential with respect to the moving object when the moving object isrotating toward a reference position present in the traveling directionof the host vehicle M at a speed less than a threshold value and set asecond risk area associated with second risk potential greater than thefirst risk potential with respect to the moving object when the movingobject is rotating toward the reference position present in thetraveling direction of the host vehicle M at a speed greater than orequal to the threshold value.

In FIG. 12 , a case in which the moving object has rotated at arotational speed greater than or equal to the threshold value is shown.As shown in FIG. 12 , when the moving object has rotated at therotational speed greater than or equal to the threshold value, thesecond risk potential is set for the second risk area AR2. The secondrisk potential is greater than the first risk potential in apredetermined range of positions in the Y direction (for example, arange between Y1 and Y2).

The processor 142 may change the magnitude of the second risk potentialin accordance with the rotational speed of the moving object. Forexample, the processor 142 may increase the magnitude of the second riskpotential as the rotational speed of the moving object increases.

The processor 142 may set the first risk area and increase the firstrisk potential set in the first risk area when the rotational speed ofthe moving object is greater than or equal to the threshold value. Also,in this case, likewise, the processor 142 may increase the magnitude ofthe first risk potential as the rotational speed of the moving objectincreases.

The processor 142 may set the risk area or the risk potential on thebasis of the presence or absence of a physical object (for example, anobstacle) between the reference position and the pedestrian PD. The“physical object” is a physical object (hereinafter referred to as anobstacle) that becomes an obstacle when the pedestrian PD moves in thereference position direction. The obstacle is, for example, a guardrail,a curb, a bicycle, a signboard, a pylon, or the like.

FIG. 13 is a diagram showing an example of a scene in which there is anobstacle. For example, when an obstacle OB is present, the processor 142may set a first risk area without setting a second risk area even if therotational speed of the moving object is greater than or equal to thethreshold value or may set a risk area smaller than the second riskarea.

For example, the processor 142 may cause the second risk potential to beset in the second risk area when the obstacle OB is present less thanthe second risk potential to be set in the second risk area when theobstacle OB is not present. FIG. 14 is a diagram showing an example of ascene in which the second risk potential is reduced. For example, asshown in the lower part of FIG. 14 , when the obstacle OB is present,for example, the processor 142 makes the second risk potential betweenthe obstacle OB and the reference position less than the second riskpotential when the obstacle OB is not present.

FIG. 15 is a diagram showing an example of a relationship between aheight of an obstacle and risk potential. The vertical axis of FIG. 15represents a magnitude of the risk potential and the horizontal axis ofFIG. 15 represents the height of the obstacle. For example, themagnitude of the risk potential is a magnitude of the second riskpotential at a predetermined position between the obstacle OB and thereference position or an average of magnitudes of second risk potentialsbetween the obstacle OB and the reference position. For example, in arange of the height of the obstacle from zero to a threshold value Thx,the magnitude of the second risk potential decreases as the height ofthe obstacle increases. When the height of the obstacle exceeds thethreshold value Thx, for example, the level of the second risk potentialbecomes zero or a predetermined value or less.

Thus, the processor 142 can reliably control the host vehicle Maccording to a surrounding environment by setting the risk potential inconsideration of a possibility that the moving object will move in adirection interfering with the traveling direction of the host vehicleM. [Flowchart] FIG. 16 is a flowchart showing an example of a flow of aprocess executed by the automated driving control device 100. First, theprocessor 142 determines whether or not a moving object around the hostvehicle M has been recognized (step S100). When a moving object aroundthe host vehicle M has been recognized, the processor 142 calculates arotational speed of the moving object on the basis of current andprevious recognition results of the moving object and acquires therotational speed (step S102). When a moving object has not beenpreviously recognized, the process of one routine of the presentflowchart ends.

Next, the processor 142 determines whether the rotational speed of themoving object is greater than or equal to a threshold value (step S104).When the rotational speed of the moving object is greater than or equalto the threshold value, the processor 142 sets the second risk areawhere the second risk potential is set (step S106). When the rotationalspeed of the moving object is less than the threshold value, theprocessor 142 sets the first risk area where the first risk potential isset (step S108). After the processing of step S106 or step S108, thecontroller 144 restricts the host vehicle M so that the risk area set instep S106 or step S108 is avoided (step S110). Thereby, the process ofone routine of the present flowchart ends.

As described above, as the automated driving control device 100, forexample, the vehicle control device can also control the vehicle whilepaying sufficient attention to a moving object that is likely to haveaccess in a direction in which the moving object will interfere with thehost vehicle M by making a sudden direction change.

The controller 144 further restricts the access of the vehicle to themoving object in consideration of at least one of a type of the movingobject, a rotation direction of the moving object, and a physical object(the above-described obstacle) present in the rotation direction of themoving object when the moving object is rotating around the verticalaxis at the speed greater than or equal to the threshold value ascompared with when the moving object is not rotating around the verticalaxis at the speed greater than or equal to the threshold value. The typeof the moving object is a type such as a pedestrian, a wheelchair, or aunicycle. The type of the moving object is whether the moving object (ora person on the moving object) is an adult or a child, the age of theperson, or the like. For example, the recognizer 130 recognizes the typeof the moving object by performing image processing. The rotationdirection of the moving object is a rotation direction for passing infront of the host vehicle M or a rotation direction opposite thereto.

For example, when the moving object is a child, the risk area or therisk potential is set to be greater than when the moving object is anadult. When the moving object is in a rotation direction for passing thefront surface of the host vehicle M, the risk area or the risk potentialis set to be greater than when the moving object is rotating in adirection opposite thereto. Thus, the processor 142 increases the riskfor the moving object when there is a greater expectation that themoving object will perform movement interfering with the travelingdirection of the host vehicle M. As a result, the automated drivingcontrol device 100 can reliably control the host vehicle M according toa surrounding environment.

According to the embodiment described above, the controller 144restricts access to the moving object when the moving object is rotatingaround a vertical axis at a speed greater than or equal to a thresholdvalue so that a front surface of the moving object recognized by therecognizer 130 faces a position interfering with a position in atraveling direction of the host vehicle M as compared with when themoving object is not rotating, so that it is possible to reliablycontrol the vehicle according to a surrounding environment.

[Hardware Configuration]

FIG. 17 is a diagram showing an example of a hardware configuration ofthe automated driving control device 100 according to the embodiment. Asshown in FIG. 17 , the automated driving control device 100 has aconfiguration in which a communication controller 100-1, a CPU 100-2, arandom access memory (RAM) 100-3 used as a working memory, a read onlymemory (ROM) 100-4 storing a boot program and the like, a storage device100-5 such as a flash memory or an HDD, a drive device 100-6, and thelike are mutually connected by an internal bus or a dedicatedcommunication line. The communication controller 100-1 communicates withcomponents other than the automated driving control device 100. Thestorage device 100-5 stores a program 100-5 a to be executed by the CPU100-2. This program is loaded into the RAM 100-3 by a direct memoryaccess (DMA) controller (not shown) or the like and executed by the CPU100-2. Thereby, some or all of the recognizer 130, the processor 142,and the controller 144 are implemented.

The above-described embodiment can be implemented as follows.

A vehicle control device including:

a storage device storing a program; and

a hardware processor,

wherein the hardware processor executes the program stored in thestorage device to:

recognize a surrounding environment of a vehicle including a movingobject present around the vehicle;

control at least one of a speed and steering of the vehicle; and

restrict access to the moving object when the moving object is rotatingaround a vertical axis at a speed greater than or equal to a thresholdvalue so that a front surface of the moving object that has beenrecognized faces a position interfering with a position in a travelingdirection of the vehicle as compared with when the moving object is notrotating.

Although modes for carrying out the present invention have beendescribed using embodiments, the present invention is not limited to theembodiments and various modifications and substitutions can also be madewithout departing from the scope and spirit of the present invention.

What is claimed is:
 1. A vehicle control device comprising: a hardwareprocessor executing software, hardware including circuitry, or acooperation of the software and the hardware configured to operate as: arecognizer configured to recognize a surrounding environment of avehicle including a moving object present around the vehicle; acontroller configured to control at least one of a speed and steering ofthe vehicle, and a setter configured to set a risk area in a surroundingarea of the vehicle on the basis of a recognition result of therecognizer, wherein the controller restricts access to the moving objectwhen the moving object is rotating around a vertical axis at a speedgreater than or equal to a threshold value so that a front surface ofthe moving object recognized by the recognizer faces a positioninterfering with a position in a traveling direction of the vehicle ascompared with when the moving object is not rotating around the verticalaxis at a speed greater than or equal to a threshold value, wherein thesetter sets a first risk area with respect to the moving object when themoving object is rotating toward a reference position present in thetraveling direction of the vehicle at a speed less than the thresholdvalue or is not rotating toward the reference position, wherein thesetter sets a second risk area larger than the first risk area withrespect to the moving object when the moving object is rotating towardthe reference position present in the traveling direction of the vehicleat a speed greater than or equal to the threshold value, and wherein thecontroller controls the vehicle so that the vehicle does not access thefirst risk area or the second risk area.
 2. A vehicle control devicecomprising: a hardware processor executing software, hardware includingcircuitry, or a cooperation of the software and the hardware configuredto operate as: a recognizer configured to recognize a surroundingenvironment of a vehicle including a moving object present around thevehicle; a controller configured to control at least one of a speed andsteering of the vehicle, and a setter configured to set a risk area in asurrounding area of the vehicle on the basis of a recognition result ofthe recognizer, wherein the controller restricts access to the movingobject when the moving object is rotating around a vertical axis at aspeed greater than or equal to a threshold value so that a front surfaceof the moving object recognized by the recognizer faces a positioninterfering with a position in a traveling direction of the vehicle ascompared with when the moving object is not rotating around the verticalaxis at a speed greater than or equal to a threshold value, wherein thesetter sets a first risk area associated with first risk potential withrespect to the moving object when the moving object is rotating toward areference position present in the traveling direction of the vehicle ata speed less than the threshold value or is not rotating toward thereference position, wherein the setter sets a second risk areaassociated with second risk potential greater than the first riskpotential with respect to the moving object when the moving object isrotating toward the reference position present in the travelingdirection of the vehicle at a speed greater than or equal to thethreshold value, and wherein the controller controls the vehicle so thatthe vehicle does not access the first risk area or the second risk area.3. The vehicle control device according to claim 1, wherein the settersets the first risk area and the second risk area so that the first riskarea and the second risk area extend in at least a direction interferingwith the position in the traveling direction of the vehicle.
 4. Avehicle control device comprising: a hardware processor executingsoftware, hardware including circuitry, or a cooperation of the softwareand the hardware configured to operate as: a recognizer configured torecognize a surrounding environment of a vehicle including a movingobject present around the vehicle; and a controller configured tocontrol at least one of a speed and steering of the vehicle, wherein thecontroller restricts access to the moving object when the moving objectis rotating around a vertical axis at a speed greater than or equal to athreshold value so that a front surface of the moving object recognizedby the recognizer faces a position interfering with a position in atraveling direction of the vehicle as compared with when the movingobject is not rotating around the vertical axis at a speed greater thanor equal to a threshold value, wherein the controller further restrictsthe access of the vehicle to the moving object in consideration of atleast one of a type of the moving object, a rotation direction of themoving object, and a physical object present in the rotation directionof the moving object when the moving object is rotating around thevertical axis at a speed greater than or equal to the threshold value sothat the front surface of the moving object faces the positioninterfering with the position in the traveling direction of the vehicle,as compared with when the moving object is not rotating around thevertical axis at a speed greater than or equal to the threshold value.